	US 12,257,714 B2
	System and method for accounting for compliance in a workpiece during autonomous processing
Avadhoot Ahire, Gardena, CA (US); Cheng Gong, Gardena, CA (US); Rishav Guha, Gardena, CA (US); Satyandra K. Gupta, Gardena, CA (US); Ariyan M. Kabir, Gardena, CA (US); Vihan Krishnan, Gardena, CA (US); Sagar Panchal, Gardena, CA (US); and Brual C. Shah, Gardena, CA (US)
Assigned to GrayMatter Robotics Inc., Gardena, CA (US)
Filed by GrayMatter Robotics Inc., Gardena, CA (US)
Filed on Oct. 11, 2023, as Appl. No. 18/379,126.
Application 18/379,126 is a continuation of application No. 18/126,941, filed on Mar. 27, 2023, granted, now 11,820,016.
Application 18/126,941 is a continuation in part of application No. 18/111,470, filed on Feb. 17, 2023, granted, now 12,049,009.
Application 18/111,470 is a continuation of application No. 17/829,193, filed on May 31, 2022, granted, now 11,613,014, issued on Mar. 28, 2023.
Application 17/829,193 is a continuation of application No. 17/826,840, filed on May 27, 2022.
Application 17/826,840 is a continuation in part of application No. 17/390,885, filed on Jul. 31, 2021, abandoned.
Claims priority of provisional application 63/059,932, filed on Jul. 31, 2020.
Prior Publication US 2024/0033914 A1, Feb. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B24B 51/00 (2006.01); B25J 9/16 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); G06T 1/00 (2006.01); G06T 7/13 (2017.01); G06T 7/60 (2017.01); G06T 19/00 (2011.01)

CPC B25J 9/1653 (2013.01) [B24B 51/00 (2013.01); B25J 9/163 (2013.01); B25J 9/1664 (2013.01); B25J 9/1679 (2013.01); B25J 9/1697 (2013.01); B25J 11/0065 (2013.01); B25J 13/085 (2013.01); G06T 1/0014 (2013.01); G06T 7/13 (2017.01); G06T 7/60 (2013.01); G06T 19/00 (2013.01); G06T 2207/10024 (2013.01); G06T 2219/004 (2013.01)]

20 Claims

1. A method comprising:

accessing a deflection distance limit of a workpiece;

accessing a first target force assigned to the workpiece;

accessing a virtual model representing unloaded surfaces of the workpiece;

accessing a set of compliance characteristics of the workpiece;

based on the set of compliance characteristics:

defining a first workpiece region, on the workpiece:

characterized by a first compliance range; and

corresponding to a first unloaded surface represented in the virtual model; and

defining a second workpiece region, on the workpiece:

characterized by a second compliance range greater than the first compliance range; and

during a processing cycle:

accessing a sequence of force values output by a force sensor coupled to a sanding head;

via a set of actuators:

navigating the sanding head across the first workpiece region; and

based on the sequence of force values, selectively driving the sanding head below the first unloaded surface of the workpiece represented in the virtual model to maintain forces, applied by the sanding head to the first workpiece region, proximal the first target force;

calculating a first maximum offset between:

positions of the sanding head traversing the first workpiece region; and

the first unloaded surface of the workpiece represented in the virtual model; and

in response to the first maximum offset approaching the deflection distance limit, assigning a second target force, less than the first target force, to the second workpiece region.